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   &#160;<span id="projectnumber">2.9.4</span>
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<p>These classes provide interfaces to hardware devices such as sensors.  
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArBumpers.html">ArBumpers</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A class that treats the robot's bumpers as a range device.  <a href="classArBumpers.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGPS.html">ArGPS</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">GPS Device Interface.  <a href="classArGPS.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGPSConnector.html">ArGPSConnector</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot parameter file and command-line arguments.  <a href="classArGPSConnector.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArGripper.html">ArGripper</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provides an interface to the Pioneer gripper device.  <a href="classArGripper.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArIRs.html">ArIRs</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A class that treats a robot's infrared sensors as a range device.  <a href="classArIRs.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArLaser.html">ArLaser</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classArRangeDevice.html" title="The base class for all sensing devices which return range information from the device (mounted on a r...">ArRangeDevice</a> interface specialized for laser rangefinder sensors; see <a class="el" href="classArRangeDevice.html" title="The base class for all sensing devices which return range information from the device (mounted on a r...">ArRangeDevice</a> for more data access methods.  <a href="classArLaser.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArLaserConnector.html">ArLaserConnector</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create laser interface objects (for any kind of laser supported by ARIA) and connect to lasers based on parameters from robot parameter file and command-line arguments.  <a href="classArLaserConnector.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMTXIO.html">ArMTXIO</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interface to digital and analog I/O and switched power outputs on MTX core (used in Pioneer LX and other MTX-based robots).  <a href="classArMTXIO.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArP2Arm.html">ArP2Arm</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classArP2Arm.html" title="ArP2Arm is the interface to the AROS/P2OS-based Pioneer 2 Arm servers, by means of which the robot mi...">ArP2Arm</a> is the interface to the AROS/P2OS-based Pioneer 2 Arm servers, by means of which the robot microcontroller firmware can control the original 5-DOF Pioneer 2 Arm manipulator.  <a href="classArP2Arm.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html">ArPTZ</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class which handles the PTZ cameras.  <a href="classArPTZ.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZConnector.html">ArPTZConnector</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control based on robot parameter file and command-line arguments.  <a href="classArPTZConnector.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobot.html">ArRobot</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Central class for communicating with and operating the robot.  <a href="classArRobot.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArRobotConnector.html">ArRobotConnector</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Connect to robot or simulator based on program command line parameters.  <a href="classArRobotConnector.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSeekurIMU.html">ArSeekurIMU</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Access extra data provided by optional Seekur IMU.  <a href="classArSeekurIMU.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSerialConnection.html">ArSerialConnection</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Utility for connecting to and communicating with devices through a serial port.  <a href="classArSerialConnection.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarDevice.html">ArSonarDevice</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Keep track of recent sonar readings from a robot as an <a class="el" href="classArRangeDevice.html" title="The base class for all sensing devices which return range information from the device (mounted on a r...">ArRangeDevice</a>.  <a href="classArSonarDevice.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html">ArTCM2</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interface to the PNI TCM 2, TCM 2.5, and TCM 2.6 3-axis compass (magnetometer) that can sense absolute heading, as well as pitch, roll, and includes a temperature sensor.  <a href="classArTCM2.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVersalogicIO.html">ArVersalogicIO</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interface to integrated digital and analog I/O interfaces on Versalogic VSBC8 and EBX-12 Cobra computers (digital IO on 2nd * gen.  <a href="classArVersalogicIO.html#details">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>These classes provide interfaces to hardware devices such as sensors. </p>
<p>Some use "connector" objects for configure, connection and sometimes to create the interface objects. Read documentation fro details. </p>
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